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test_puppy.py
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test_puppy.py
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#!/usr/bin/python3
# coding=utf8
# Author:hiwonder
import os, sys, time
import numpy as np
HomePath = '/home/pi'
sys.path.append(HomePath + '/PuppyPi_PC_Software')
from ServoCmd import setServoPulse
from HiwonderPuppy import HiwonderPuppy, PWMServoParams
puppy = HiwonderPuppy(setServoPulse = setServoPulse, servoParams = PWMServoParams(), dof = '8')
# FR FL BR BL
foot_locations = np.array([ [ -1., -1., -1., -1.], # X
[ 0., 0., 0., 0.], # Y
[-10, -10, -10, -10,] # Z
])
# 相对4条腿各自坐标系的坐标值，单位cm
foot_locations = foot_locations/100 # 换算成以米为单位
joint_angles = [[[0.0, 0.0, 0.0, 0.0], [0.809404, 0.3132037, 1.0221974, 0.36164483], [-0.57618636, -0.70380145, -0.4898024, -0.7398428]], [[0.0, 0.0, 0.0, 0.0], [0.4494468, 0.1945355, 0.41727775, -0.3765717], [-1.3, 0.11193961, -1.3, -0.414132]], [[0.0, 0.0, 0.0, 0.0], [0.1294756, 0.02352348, 0.20285904, -0.15399054], [-0.7349288, -0.7313923, -0.48368868, -1.1452475]], [[0.0, 0.0, 0.0, 0.0], [0.6394367, 0.58722055, -0.2674147, -0.45368254], [0.17807288, -0.3927374, -0.35223335, -1.1443487]], [[0.0, 0.0, 0.0, 0.0], [0.597791, 0.7881659, -0.022509193, -0.33905852], [0.005757943, -0.23003042, -0.6724152, -0.6780862]], [[0.0, 0.0, 0.0, 0.0], [0.61340344, 0.59093475, 0.074694134, -0.09830877], [-0.26950917, -0.3933826, -0.6847441, -0.7262922]], [[0.0, 0.0, 0.0, 0.0], [0.6647034, 0.61330634, 0.09211291, 0.05277574], [-0.2254131, -0.4522149, -0.63461304, -0.65048707]], [[0.0, 0.0, 0.0, 0.0], [0.60457385, 0.513754, 0.17685178, 0.18839054], [-0.35133994, -0.38088495, -0.64288807, -0.53042096]], [[0.0, 0.0, 0.0, 0.0], [0.6682576, 0.51639366, 0.39531654, 0.4186781], [-0.36304986, -0.2611052, -0.58070403, -0.31889886]], [[0.0, 0.0, 0.0, 0.0], [0.61331224, 0.39909095, 0.6827139, 0.5318868], [-0.4833436, -0.20370837, -0.48547333, -0.18592432]], [[0.0, 0.0, 0.0, 0.0], [0.47177717, 0.37256783, 0.92635167, 0.5174858], [-0.80719584, -0.2668194, -0.43733305, 0.12694673]], [[0.0, 0.0, 0.0, 0.0], [0.48158595, 0.6708071, 0.92241853, 0.6169366], [-0.7739416, -0.37101662, -0.3696378, 0.31640077]], [[0.0, 0.0, 0.0, 0.0], [0.42863485, 0.54803133, 0.79975504, 0.85149276], [-0.86209095, -0.615007, -0.45375505, 0.2010328]], [[0.0, 0.0, 0.0, 0.0], [0.3576209, 0.4706851, 0.8467588, 1.1717309], [-0.68975246, -0.82022274, -0.36446884, 0.06170331]], [[0.0, 0.0, 0.0, 0.0], [0.25123355, 0.38424936, 0.8160393, 1.2060124], [-0.6333545, -0.91771734, -0.28806615, -0.102380574]], [[0.0, 0.0, 0.0, 0.0], [0.19692008, 0.3066005, 0.84944963, 1.1483486], [-0.6649038, -0.7972002, -0.33640274, -0.18344863]], [[0.0, 0.0, 0.0, 0.0], [0.189899, 0.2690743, 0.7708257, 1.0048008], [-0.681808, -0.6769501, -0.45820653, -0.25158048]], [[0.0, 0.0, 0.0, 0.0], [0.21430889, 0.30025625, 0.6945779, 0.84813094], [-0.64111936, -0.60239965, -0.5047651, -0.40896517]], [[0.0, 0.0, 0.0, 0.0], [0.2629474, 0.35839462, 0.6315566, 0.745874], [-0.57574415, -0.5805208, -0.5215812, -0.53931564]], [[0.0, 0.0, 0.0, 0.0], [0.30791277, 0.4349812, 0.6273041, 0.77969456], [-0.72390944, -0.6751038, -0.6060545, -0.5071344]], [[0.0, 0.0, 0.0, 0.0], [0.33500245, 0.49979153, 0.65067065, 0.8499734], [-0.77319145, -0.8789831, -0.5824644, -0.508933]], [[0.0, 0.0, 0.0, 0.0], [0.3716008, 0.46098784, 0.67927665, 0.9210837], [-0.75058115, -0.86800396, -0.55901575, -0.4903816]], [[0.0, 0.0, 0.0, 0.0], [0.4039417, 0.42600206, 0.70658726, 0.97030973], [-0.7463359, -0.8409738, -0.5412743, -0.46278608]], [[0.0, 0.0, 0.0, 0.0], [0.4184232, 0.434288, 0.7089283, 0.96832], [-0.7384211, -0.82470083, -0.5261861, -0.4957257]], [[0.0, 0.0, 0.0, 0.0], [0.42865673, 0.45383483, 0.7078402, 0.98014843], [-0.7433447, -0.82394224, -0.521301, -0.5308275]], [[0.0, 0.0, 0.0, 0.0], [0.446542, 0.47645438, 0.7071459, 0.9821117], [-0.73520225, -0.847767, -0.5145485, -0.56308967]], [[0.0, 0.0, 0.0, 0.0], [0.47196385, 0.49559143, 0.7164821, 0.9871532], [-0.7253093, -0.8661523, -0.5053723, -0.5820375]], [[0.0, 0.0, 0.0, 0.0], [0.49703118, 0.5111309, 0.723931, 0.99006677], [-0.7214463, -0.87336946, -0.50269324, -0.58960986]], [[0.0, 0.0, 0.0, 0.0], [0.5131992, 0.52156854, 0.7276027, 0.99082834], [-0.72088295, -0.8757341, -0.5067516, -0.5989081]], [[0.0, 0.0, 0.0, 0.0], [0.51751673, 0.51973397, 0.7221938, 0.98286825], [-0.730187, -0.87410676, -0.52503294, -0.60822195]], [[0.0, 0.0, 0.0, 0.0], [0.5052595, 0.49991906, 0.7100631, 0.962939], [-0.75294316, -0.875791, -0.5564917, -0.6147484]], [[0.0, 0.0, 0.0, 0.0], [0.4723322, 0.4606696, 0.6922108, 0.9251759], [-0.7830601, -0.88809603, -0.59714967, -0.62083656]], [[0.0, 0.0, 0.0, 0.0], [0.41961446, 0.3990737, 0.66965383, 0.87707347], [-0.82775724, -0.91078967, -0.64876574, -0.622071]], [[0.0, 0.0, 0.0, 0.0], [0.3439145, 0.31736168, 0.6360928, 0.8229257], [-0.8868703, -0.95014286, -0.7103911, -0.6170268]], [[0.0, 0.0, 0.0, 0.0], [0.25469473, 0.21332192, 0.5940931, 0.74700046], [-0.95244193, -1.0046277, -0.7770286, -0.6008529]], [[0.0, 0.0, 0.0, 0.0], [0.11459711, 0.029200047, 0.49490473, 0.6082726], [-1.0547795, -1.0867348, -0.87351763, -0.5729371]], [[0.0, 0.0, 0.0, 0.0], [-0.20991442, -0.41593084, 0.12953278, 0.14118391], [-1.3, -1.1957147, -1.0642576, -0.5873277]], [[0.0, 0.0, 0.0, 0.0], [-0.1416356, -0.3239319, -0.66686815, -0.6913529], [-1.0065373, -0.71855533, -0.9421324, -0.69981146]], [[0.0, 0.0, 0.0, 0.0], [0.3260429, 0.6540327, -0.9840117, -0.9133179], [0.18886085, 0.15100133, -0.38942492, -0.5192121]], [[0.0, 0.0, 0.0, 0.0], [0.9783443, 1.2885455, -0.6036695, -0.545676], [0.45854527, 0.7154123, 0.025743775, -0.46676505]], [[0.0, 0.0, 0.0, 0.0], [0.81723654, 0.9354125, 0.65509677, 0.342977], [-0.5830716, -0.37418568, -0.13583955, -0.32692933]], [[0.0, 0.0, 0.0, 0.0], [0.31247637, 0.2892717, 0.7238167, 0.5914655], [-0.85273975, -1.0788872, -0.49361497, -0.19897734]], [[0.0, 0.0, 0.0, 0.0], [0.02450201, -0.029039592, 0.8155237, 0.7011394], [-1.2788883, -1.3, -0.43235058, -0.27472302]], [[0.0, 0.0, 0.0, 0.0], [-0.14170897, -0.14216849, 0.916007, 0.783626], [-1.3, -1.3, -0.4431904, -0.24748364]], [[0.0, 0.0, 0.0, 0.0], [-0.018959135, -0.10605338, 0.5515395, 0.6258139], [-1.0254464, -0.80987483, -0.70706236, -0.23426688]], [[0.0, 0.0, 0.0, 0.0], [0.015883997, 0.0805531, 0.3776611, 0.5207139], [-0.5736076, -0.54270875, -0.65382206, -0.54392797]], [[0.0, 0.0, 0.0, 0.0], [0.19689186, 0.38429764, 0.43378216, 0.40183848], [-0.35097092, -0.2287864, -0.44294143, -0.65706605]], [[0.0, 0.0, 0.0, 0.0], [0.2835811, 0.49573877, 0.52594507, 0.3757129], [-0.41717488, -0.2636595, -0.39800677, -0.69744617]], [[0.0, 0.0, 0.0, 0.0], [0.25123554, 0.48817122, 0.5652771, 0.32429612], [-0.5903742, -0.55497825, -0.44338048, -0.8331913]], [[0.0, 0.0, 0.0, 0.0], [0.33105445, 0.43299434, 0.53439844, 0.43121877], [-0.7005827, -0.76503134, -0.596896, -0.71711326]], [[0.0, 0.0, 0.0, 0.0], [0.4067144, 0.4135002, 0.5295072, 0.5727323], [-0.7318111, -0.7182517, -0.6289832, -0.6026644]], [[0.0, 0.0, 0.0, 0.0], [0.43543813, 0.43016645, 0.5461026, 0.6655687], [-0.6955219, -0.66231346, -0.5745333, -0.5560508]], [[0.0, 0.0, 0.0, 0.0], [0.44458833, 0.4659013, 0.5862551, 0.68628335], [-0.6425041, -0.67558014, -0.49692702, -0.58935684]], [[0.0, 0.0, 0.0, 0.0], [0.44688568, 0.48945996, 0.6018987, 0.7114469], [-0.6285117, -0.72210264, -0.4756805, -0.62320095]], [[0.0, 0.0, 0.0, 0.0], [0.46939912, 0.50638974, 0.60574543, 0.7524239], [-0.6493915, -0.7564821, -0.50359136, -0.6183434]], [[0.0, 0.0, 0.0, 0.0], [0.5074308, 0.5169525, 0.61785203, 0.7858175], [-0.6619114, -0.77286667, -0.5245306, -0.598359]], [[0.0, 0.0, 0.0, 0.0], [0.5435411, 0.52851915, 0.6295304, 0.8128762], [-0.6608555, -0.7700212, -0.52735335, -0.5840354]], [[0.0, 0.0, 0.0, 0.0], [0.5728978, 0.54521406, 0.63880956, 0.8313437], [-0.651759, -0.763758, -0.5232989, -0.58201236]], [[0.0, 0.0, 0.0, 0.0], [0.5969329, 0.5656488, 0.642926, 0.84284484], [-0.63546246, -0.76168793, -0.5219517, -0.5918602]], [[0.0, 0.0, 0.0, 0.0], [0.61890197, 0.58701384, 0.64278805, 0.8514397], [-0.6187058, -0.7636675, -0.52525353, -0.6047624]], [[0.0, 0.0, 0.0, 0.0], [0.6408063, 0.60638845, 0.64026016, 0.8568079], [-0.6074507, -0.76583284, -0.53197545, -0.61291057]], [[0.0, 0.0, 0.0, 0.0], [0.6606722, 0.61990225, 0.6365967, 0.85901254], [-0.60227996, -0.7650412, -0.5407441, -0.6161429]], [[0.0, 0.0, 0.0, 0.0], [0.6773168, 0.623827, 0.63304305, 0.8562826], [-0.6080493, -0.7592815, -0.553934, -0.6145827]], [[0.0, 0.0, 0.0, 0.0], [0.6835278, 0.6126628, 0.6303497, 0.8517187], [-0.6263811, -0.7536565, -0.57149464, -0.6141137]], [[0.0, 0.0, 0.0, 0.0], [0.67151046, 0.5853511, 0.6265427, 0.8404054], [-0.64838445, -0.757076, -0.5902614, -0.619097]], [[0.0, 0.0, 0.0, 0.0], [0.6399367, 0.5444963, 0.6198194, 0.81940794], [-0.67369616, -0.77518564, -0.60944796, -0.6275022]], [[0.0, 0.0, 0.0, 0.0], [0.59070194, 0.49074578, 0.6086975, 0.7899928], [-0.70801944, -0.8076997, -0.63242215, -0.6345687]], [[0.0, 0.0, 0.0, 0.0], [0.5237559, 0.41722423, 0.59148353, 0.75546575], [-0.7591343, -0.8491768, -0.66517514, -0.63468707]], [[0.0, 0.0, 0.0, 0.0], [0.43266004, 0.31875694, 0.5606604, 0.7114367], [-0.8285603, -0.90957755, -0.7094624, -0.62840384]], [[0.0, 0.0, 0.0, 0.0], [0.2638153, 0.13767312, 0.47494897, 0.5886723], [-0.93696666, -1.0399938, -0.80717874, -0.61255306]], [[0.0, 0.0, 0.0, 0.0], [-0.18273038, -0.40078953, 0.17916203, 0.21768385], [-1.2625345, -1.3, -1.0671259, -0.6517506]], [[0.0, 0.0, 0.0, 0.0], [-0.20417574, -0.50691617, -0.5606903, -0.7180052], [-1.1947632, -1.0849708, -1.0766366, -0.75734496]], [[0.0, 0.0, 0.0, 0.0], [0.21623456, 0.3675459, -0.98157257, -1.1089145], [-0.14265575, 0.0060079694, -0.694238, -0.51414144]], [[0.0, 0.0, 0.0, 0.0], [1.1337155, 1.4111253, -0.72334087, -0.62153876], [0.79225206, 0.6741414, -0.01716981, -0.5423984]], [[0.0, 0.0, 0.0, 0.0], [0.95406723, 1.0346447, 0.5067494, 0.1259093], [-0.5664774, -0.15700789, -0.1495043, -0.45311075]], [[0.0, 0.0, 0.0, 0.0], [0.2672463, 0.32048506, 0.6800221, 0.58168787], [-0.8899403, -1.197705, -0.5025406, -0.2189894]], [[0.0, 0.0, 0.0, 0.0], [0.015633732, -0.030908003, 0.6861007, 0.7028409], [-1.1980278, -1.3, -0.37537345, -0.38307393]], [[0.0, 0.0, 0.0, 0.0], [-0.07372567, -0.12231201, 0.7371322, 0.71337545], [-1.2047632, -1.3, -0.29439065, -0.41890582]], [[0.0, 0.0, 0.0, 0.0], [-0.031913668, -0.13037011, 0.49326703, 0.5041554], [-0.8483491, -0.86908513, -0.62968105, -0.2718754]], [[0.0, 0.0, 0.0, 0.0], [0.053730965, 0.07515398, 0.31004092, 0.36499578], [-0.49881732, -0.46750122, -0.68042815, -0.48024857]], [[0.0, 0.0, 0.0, 0.0], [0.23295811, 0.36925462, 0.4261713, 0.3809458], [-0.33109802, -0.19290832, -0.45262954, -0.57540196]], [[0.0, 0.0, 0.0, 0.0], [0.35906768, 0.51315916, 0.48439294, 0.41280645], [-0.34823805, -0.20863093, -0.38041747, -0.63177145]], [[0.0, 0.0, 0.0, 0.0], [0.30887777, 0.5305648, 0.51829356, 0.4017344], [-0.52549577, -0.37489846, -0.40883562, -0.7400349]], [[0.0, 0.0, 0.0, 0.0], [0.33130074, 0.4815814, 0.49711174, 0.39776278], [-0.5917522, -0.7511784, -0.49179754, -0.791772]], [[0.0, 0.0, 0.0, 0.0], [0.40098557, 0.44837126, 0.4927351, 0.5035316], [-0.6851134, -0.72957754, -0.60027003, -0.6624537]], [[0.0, 0.0, 0.0, 0.0], [0.45199084, 0.45825207, 0.50632447, 0.61619925], [-0.6835305, -0.6592592, -0.592921, -0.5544459]], [[0.0, 0.0, 0.0, 0.0], [0.46268883, 0.47388157, 0.5441533, 0.66688395], [-0.64771163, -0.6377676, -0.5229106, -0.5674663]], [[0.0, 0.0, 0.0, 0.0], [0.4559007, 0.49117517, 0.56995714, 0.6878242], [-0.6237658, -0.66722465, -0.48632187, -0.6019818]], [[0.0, 0.0, 0.0, 0.0], [0.46391445, 0.5033674, 0.5802498, 0.7118369], [-0.63618845, 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[-0.6544809, -0.7535838, -0.51823306, -0.6073621]], [[0.0, 0.0, 0.0, 0.0], [0.56567574, 0.52717507, 0.6271312, 0.78543186], [-0.65132564, -0.7490846, -0.51818174, -0.58968127]], [[0.0, 0.0, 0.0, 0.0], [0.5944687, 0.54672503, 0.63583887, 0.8027943], [-0.64025617, -0.7427163, -0.51736736, -0.5860955]], [[0.0, 0.0, 0.0, 0.0], [0.61926466, 0.5677245, 0.6400377, 0.81556976], [-0.6246759, -0.74107426, -0.521169, -0.5938015]], [[0.0, 0.0, 0.0, 0.0], [0.6415216, 0.5889847, 0.63951904, 0.82522035], [-0.6094902, -0.7432551, -0.5281094, -0.60533553]], [[0.0, 0.0, 0.0, 0.0], [0.6633742, 0.6084109, 0.6366437, 0.83101654], [-0.5985301, -0.7446289, -0.53560597, -0.61201245]], [[0.0, 0.0, 0.0, 0.0], [0.6841037, 0.6232115, 0.6333304, 0.8334039], [-0.59172416, -0.7429416, -0.5424201, -0.6125935]], [[0.0, 0.0, 0.0, 0.0], [0.6986332, 0.63111234, 0.6294145, 0.8351501], [-0.5901237, -0.7414268, -0.54887104, -0.61319906]], [[0.0, 0.0, 0.0, 0.0], [0.7037121, 0.628562, 0.6242846, 0.8338569], [-0.5991397, -0.74096596, -0.5592767, -0.6152202]], [[0.0, 0.0, 0.0, 0.0], [0.6962869, 0.61077285, 0.6186383, 0.82729125], [-0.6216865, -0.74433696, -0.57501763, -0.61725676]], [[0.0, 0.0, 0.0, 0.0], [0.6714072, 0.57556725, 0.61283934, 0.81221], [-0.6501696, -0.7580139, -0.5926227, -0.62117493]], [[0.0, 0.0, 0.0, 0.0], [0.62758124, 0.5241965, 0.60389334, 0.788689], [-0.6850153, -0.78328115, -0.6121163, -0.62593627]], [[0.0, 0.0, 0.0, 0.0], [0.56398654, 0.45408067, 0.588504, 0.75748134], [-0.7335076, -0.8190351, -0.63865566, -0.6273663]], [[0.0, 0.0, 0.0, 0.0], [0.47262758, 0.36649156, 0.5474326, 0.694691], [-0.79882586, -0.8705511, -0.68646824, -0.6098786]], [[0.0, 0.0, 0.0, 0.0], [0.30192327, 0.17282102, 0.4659655, 0.5827874], [-0.9164061, -0.99992704, -0.78242034, -0.6110476]], [[0.0, 0.0, 0.0, 0.0], [-0.14672053, -0.36536953, 0.19157481, 0.24521104], [-1.2297564, -1.3, -1.040958, -0.6719068]], [[0.0, 0.0, 0.0, 0.0], [-0.30019552, -0.63379896, -0.47957206, -0.6336804], [-1.2801605, -1.2272115, -1.1307129, -0.7836635]], [[0.0, 0.0, 0.0, 0.0], [0.20092836, 0.2639361, -0.9377142, -1.1621852], [-0.30530775, -0.014804184, -0.75316566, -0.4421295]], [[0.0, 0.0, 0.0, 0.0], [1.1790875, 1.4626154, -0.7263481, -0.62228566], [0.8931121, 0.63062286, -0.021797575, -0.5649845]], [[0.0, 0.0, 0.0, 0.0], [0.959483, 1.0683159, 0.49520937, 0.06726848], [-0.5569979, -0.097736984, -0.13533387, -0.4662425]], [[0.0, 0.0, 0.0, 0.0], [0.25651997, 0.3315469, 0.6471129, 0.60387367], [-0.89711237, -1.2454212, -0.5093946, -0.19956797]], [[0.0, 0.0, 0.0, 0.0], [0.011585057, -0.012357771, 0.6551478, 0.73530555], [-1.1755301, -1.3, -0.35543832, -0.39778548]], [[0.0, 0.0, 0.0, 0.0], [-0.050431997, -0.11481008, 0.67874056, 0.7294262], [-1.1492828, -1.3, -0.28614673, -0.42713058]], [[0.0, 0.0, 0.0, 0.0], [-0.032019436, -0.14202341, 0.4838137, 0.5343822], [-0.75830483, -0.9217375, -0.49748576, -0.3806299]], [[0.0, 0.0, 0.0, 0.0], [0.06753883, 0.08020753, 0.33418, 0.3414446], [-0.49992764, -0.48081753, -0.6556391, -0.49317265]], [[0.0, 0.0, 0.0, 0.0], [0.25276014, 0.35407037, 0.448116, 0.38070506], [-0.36718255, -0.2168119, -0.44696268, -0.56539506]], [[0.0, 0.0, 0.0, 0.0], [0.36875653, 0.49067482, 0.4635318, 0.42407072], [-0.3570724, -0.22147088, -0.3774583, -0.63908964]], [[0.0, 0.0, 0.0, 0.0], [0.33416724, 0.5191164, 0.5041206, 0.42578942], [-0.50630254, -0.35595733, -0.38615945, -0.72443235]], [[0.0, 0.0, 0.0, 0.0], [0.34984446, 0.50678, 0.5072163, 0.4046157], [-0.5852275, -0.7250378, -0.4466509, -0.785657]], [[0.0, 0.0, 0.0, 0.0], [0.40803063, 0.46822754, 0.5074282, 0.49134484], [-0.6750493, -0.74543476, -0.5648382, -0.67751294]], [[0.0, 0.0, 0.0, 0.0], [0.45321217, 0.45614624, 0.5173202, 0.6039658], [-0.6851687, -0.6760719, -0.58436996, -0.5638891]], [[0.0, 0.0, 0.0, 0.0], [0.46582198, 0.46319404, 0.5471652, 0.65827316], [-0.6635421, -0.63659555, -0.5302431, -0.56280094]], [[0.0, 0.0, 0.0, 0.0], [0.46151912, 0.48076755, 0.57358974, 0.6765468], [-0.642071, -0.6505698, -0.48977354, -0.5951237]], [[0.0, 0.0, 0.0, 0.0], [0.46591696, 0.49286214, 0.59004325, 0.6953876], [-0.6419988, -0.70721614, -0.487186, -0.6299549]], [[0.0, 0.0, 0.0, 0.0], [0.4926314, 0.5019311, 0.6039991, 0.72614723], [-0.6494103, -0.74450135, -0.50573415, -0.6313122]], [[0.0, 0.0, 0.0, 0.0], [0.5309745, 0.5119129, 0.6158502, 0.75824976], [-0.65448755, -0.75301695, -0.51791006, -0.60824245]], [[0.0, 0.0, 0.0, 0.0], [0.5656023, 0.527231, 0.6275733, 0.7846805], [-0.65099704, -0.74885964, -0.51757497, -0.5906508]], [[0.0, 0.0, 0.0, 0.0], [0.594416, 0.5468354, 0.63623816, 0.80214036], [-0.639756, -0.74271524, -0.5167024, -0.5869103]], [[0.0, 0.0, 0.0, 0.0], [0.6192669, 0.567881, 0.6403826, 0.8149874], [-0.62414, -0.74113137, -0.5206346, -0.5943571]], [[0.0, 0.0, 0.0, 0.0], [0.6415683, 0.58912146, 0.6397912, 0.8246517], [-0.6089388, -0.7432668, -0.52776784, -0.60567933]], [[0.0, 0.0, 0.0, 0.0], [0.6633675, 0.608473, 0.63684064, 0.8304531], [-0.5978703, -0.7446248, -0.53539777, -0.6122761]], [[0.0, 0.0, 0.0, 0.0], [0.6839063, 0.623178, 0.6335006, 0.8328112], [-0.590735, -0.7430865, -0.5421916, -0.6129713]], [[0.0, 0.0, 0.0, 0.0], [0.69812715, 0.631066, 0.6295184, 0.8345055], [-0.58875394, -0.7419028, -0.5485386, -0.61372304]], [[0.0, 0.0, 0.0, 0.0], [0.702875, 0.6286563, 0.62432474, 0.833067], [-0.597323, -0.7420238, -0.5587479, -0.61585486]], [[0.0, 0.0, 0.0, 0.0], [0.69543576, 0.61117595, 0.61834925, 0.8265262], [-0.62035817, -0.7456281, -0.57460463, -0.61761916]], [[0.0, 0.0, 0.0, 0.0], [0.6705253, 0.5759553, 0.6124554, 0.81148195], [-0.6491918, -0.7594111, -0.592457, -0.6212256]], [[0.0, 0.0, 0.0, 0.0], [0.6266132, 0.5240755, 0.6034635, 0.7881392], [-0.6844204, -0.7842109, -0.6123562, -0.6256438]], [[0.0, 0.0, 0.0, 0.0], [0.5628376, 0.4536507, 0.5880089, 0.7568356], [-0.73317343, -0.8199535, -0.6391697, -0.62684166]], [[0.0, 0.0, 0.0, 0.0], [0.47199884, 0.36559975, 0.5465973, 0.6928287], [-0.7996543, -0.8702146, -0.6873881, -0.6080783]], [[0.0, 0.0, 0.0, 0.0], [0.29981267, 0.1700914, 0.46476692, 0.5797633], [-0.91714257, -1.0017562, -0.7831381, -0.6105856]], [[0.0, 0.0, 0.0, 0.0], [-0.15309927, -0.3724335, 0.18719038, 0.23896673], [-1.2328141, -1.3, -1.0440522, -0.67346704]], [[0.0, 0.0, 0.0, 0.0], [-0.29557666, -0.6263789, -0.49021262, -0.6451168], [-1.2696245, -1.2222602, -1.1250167, -0.78499347]], [[0.0, 0.0, 0.0, 0.0], [0.21122883, 0.28023237, -0.9373167, -1.1608468], [-0.2893998, -0.0036575198, -0.74653727, -0.44070846]], [[0.0, 0.0, 0.0, 0.0], [1.1868573, 1.467542, -0.7199656, -0.61873513], [0.8928891, 0.6329891, -0.017092742, -0.5661015]], [[0.0, 0.0, 0.0, 0.0], [0.9543154, 1.056561, 0.5075435, 0.079918005], [-0.5717491, -0.12065941, -0.13910139, -0.46267325]], [[0.0, 0.0, 0.0, 0.0], [0.2555047, 0.32948464, 0.64024824, 0.5985731], [-0.90431195, -1.2459605, -0.51305366, -0.20109026]], [[0.0, 0.0, 0.0, 0.0], [0.009700835, -0.010725975, 0.65203387, 0.7376454], [-1.1726995, -1.3, -0.35661653, -0.39801815]], [[0.0, 0.0, 0.0, 0.0], [-0.049142852, -0.11407825, 0.6713989, 0.72800106], [-1.1428487, -1.3, -0.28840134, -0.4268492]], [[0.0, 0.0, 0.0, 0.0], [-0.02884224, -0.14629114, 0.47393364, 0.5310427], [-0.7417954, -0.91768247, -0.4948059, -0.38914335]], [[0.0, 0.0, 0.0, 0.0], [0.071863815, 0.08437657, 0.33397058, 0.3376922], [-0.49631327, -0.4733419, -0.6559285, -0.49037194]], [[0.0, 0.0, 0.0, 0.0], [0.25627184, 0.35816985, 0.45188898, 0.37989727], [-0.3684857, -0.2157658, -0.44352034, -0.56418705]], [[0.0, 0.0, 0.0, 0.0], [0.36970073, 0.4909285, 0.461131, 0.427805], [-0.35650826, -0.22470462, -0.37518448, -0.6435229]], [[0.0, 0.0, 0.0, 0.0], [0.3335069, 0.5185635, 0.5028538, 0.42786533], [-0.50542617, -0.35814005, -0.3856563, -0.7253286]], [[0.0, 0.0, 0.0, 0.0], [0.35239702, 0.508447, 0.50699633, 0.40601817], [-0.5835806, -0.7275363, -0.44550592, -0.7838442]], [[0.0, 0.0, 0.0, 0.0], [0.40935552, 0.4684859, 0.5073324, 0.49344346], [-0.67683464, -0.7441957, -0.56642514, -0.67410594]]]
# 输入坐标，通过逆运动学计算得到各个舵机的角度值
# print(joint_angles*57.3)
puppy.servo_force_run()
# 强制执行舵机角度转动，没有这句舵机有时候不会转动
joint_angles = np.array(joint_angles)
for joint_angle in joint_angles:
try:
joint_angle[1] *= 1.5
puppy.sendServoAngle(joint_angle, time = 500)
time.sleep(0.016)
except:
pass
#将舵机角度发送到舵机，
print('DONE')
while True:
time.sleep(0.001)